System and Method for Applying Force to a Device

ABSTRACT

A system and method for applying force to at least one device at least one force actuator including a processor accessing at least one description of the at least one device, the processor creating command information based at least on the at least one description, and a controller accessing the command information, the controller creating at least one motion command based on the command information, the controller issuing the at least one motion command, the motion command enabling the testing of the at least one device by controlling the at least one force actuator based on the at least one motion command.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a divisional of U.S. patent application Ser. No.15/648,378, filed on Jul. 12, 2017 and entitled System and Method forApplying Force to a Device, now U.S. Publication No. 2018-0017474,published Jan. 18, 2018 (Attorney Docket No. U29), which claims thebenefit of U.S. Provisional Patent Application Ser. No. 62/361,204 filedJul. 12, 2016, entitled System and Method for Applying Force to a Device(Attorney Docket No. S21), and U.S. Provisional Patent ApplicationSerial No. 62/361,209 filed Jul. 12, 2016, entitled System and Methodfor Controlling Motion (Attorney Docket No. S17), which are incorporatedherein by reference in their entirety.

BACKGROUND

The present teachings relate generally to applying force to a device,and more specifically to actuating systems and methods that can applyforce to devices to, for example, test devices.

Quality, performance, and reliability of devices can be exercisedthrough the use of conformance and performance tests. Typicalconformance and performance tests can include cycle testing using air,water, and steam, cycle testing against vacuum and positive pressure atvarious densities, varying pressure conditions, and cycle testing atambient, cold, and elevated temperatures. Such tests can lack theprecision that can be required for extremely find-scale forceapplications and their monitoring.

What are needed are systems and methods that can apply force preciselyto a large range of devices, and monitor the reaction of the devices tothe applied force. What are further needed are systems and methods thatcan coordinate force application across parts of a device, and/or acrossmultiple devices. What are still further needed are systems and methodsthat can apply a range of forces simultaneously to multiple devicesand/or multiple parts of a single or multiple devices, and/orsequentially to multiple devices and/or multiple parts of a singledevice or multiple devices.

SUMMARY

A method of the present teachings for applying a constant force to adevice can include, but is not limited to including, setting a targetposition of a pin with respect to the device, setting a target forcethat the pin will apply to the device, moving the pin towards thedevice, stopping the movement of the pin when the first of a forceexerted on the device by the pin substantially equals the target force,or a position of the pin substantially equals the target positionhappens, and modifying the position of the pin to maintain the force ofthe pin on the device at substantially constant.

A method of the present teachings for applying pressure to a device caninclude, but is not limited to including, pressurizing the device,setting a target position of a pin with respect to the device, setting atarget force that the pin will apply to the device, moving the pintowards the device, stopping the movement of the pin when the first of aforce exerted on the device by the pin substantially equals the targetforce, or a position of the pin substantially equals the target positionhappens, holding the position of the pin substantially constant, andmonitoring the force over time.

A method for testing a device can include, but is not limited toincluding, setting a target first characteristic of a pressure actuator,the pressure actuator having an actual first characteristic, setting atarget second characteristic of the pressure actuator, the pressureactuator having an actual second characteristic, adjusting the pressureactuator, the adjusting enabling the actual first characteristic toapproach the target first characteristic, and the actual secondcharacteristic to approach the target second characteristic, stoppingthe adjusting when the first of the actual first characteristicsubstantially equals the target first characteristic, or the actualsecond characteristic substantially equals the target secondcharacteristic happens, adjusting the actual first characteristic tomaintain the target second characteristic substantially constant, andtesting the device by monitoring the actual first characteristic overtime.

A system of the present teachings for applying force to a device caninclude, but is not limited to including, at least one platform, atleast one device cage operably coupled with at least one platform, atleast one device cover operably coupled with the at least one devicecage, the device cage housing the device, at least one pressure actuatorassembly substantially aligned with the device cage and operably coupledwith the at least one platform, and at least one motion controlleroperably coupled with the at least one pressure actuator assembly, theat least one motion controller setting a target first characteristic ofthe at least one pressure actuator assembly, the pressure actuatorassembly having an actual first characteristic, the at least onecontroller setting a target second characteristic of the at least onepressure actuator assembly, the at least one pressure actuator assemblyhaving an actual second characteristic, the at least one motioncontroller adjusting the at least one pressure actuator assembly, theadjusting enabling the actual first characteristic to approach thetarget first characteristic, and the actual second characteristic toapproach the target second characteristic and stopping the adjustingwhen the first of the actual first characteristic substantially equalsthe target first characteristic, or the actual second characteristicsubstantially equals the target second characteristic happens, the atleast one motion controller adjusting the actual first characteristic tomaintain the target second characteristic substantially constant.

The method of the present teachings for automatically adjusting actualcharacteristics to meet target characteristics can include, but is notlimited to including, receiving a at least one target characteristicselection, arranging the at least one target characteristic into atleast one first message, and transmitting the at least one first messageto a motion controller. The method can also include generating, by themotion controller, at least one second message, the at least one secondmessage including information required to adjust the at least one targetcharacteristic, transmitting, by the motion controller, the at least onesecond message to at least one actuator node, and adjusting, by the atleast one actuator node, at least one actual characteristic to meet theat least one target characteristic, if necessary. The method canoptionally include checking, by the actuator node, the integrity of theat least one second message, and generating, by the actuator node, atleast one third message including a status of the at least one secondmessage.

The method of the present teachings for testing a device can include,but is not limited to including, setting a target position of a pin withrespect to the device, and setting a target force being applied by thepin to the device. The pin can have an actual position and actual force.The method can include moving the pin towards the target position,stopping the movement of the pin when either the actual force exerted onthe device by the pin substantially equals the target force, or theactual position of the pin substantially equals the target position. Themethod can include testing the device by comparing either the actualforce or the actual position with at least one benchmark value todetermine if the device meets pre-selected criteria at the targetposition or under the target force.

The method can optionally include monitoring the actual position overtime, monitoring the actual force over time, modifying the position ofthe pin to maintain the force of the pin on the device at substantiallyconstant, holding the actual position of the pin substantially constant,pressurizing the device, and testing the pressurized device bymonitoring the actual force over time.

The method of the present teachings for testing a device can include,but is not limited to including, setting a target first characteristicof a pressure actuator, setting a target second characteristic of thepressure actuator, and adjusting the pressure actuator. The pressureactuator having an actual first characteristic and an actual secondcharacteristic. The adjusting can include enabling the actual firstcharacteristic to approach the target first characteristic, and enablingthe actual second characteristic to approach the target secondcharacteristic. The method can include stopping the adjusting when thefirst of the actual first characteristic substantially equals the targetfirst characteristic, or the actual second characteristic substantiallyequals the target second characteristic happens. The method can includeadjusting the actual first characteristic to maintain the target secondcharacteristic substantially constant, and testing the device bymonitoring the actual first characteristic over time.

The system of the present teachings for testing a device can include,but is not limited to including, at least one platform, at least oneholder mount operably coupled with the platform, at least one deviceholder operably coupled with the holder mount, at least one device coveroperably coupled with the holder mount, and at least one device cageinsertably coupled with the at least one device holder. The device cagecan house the device. The system can include at least one pressureactuator assembly substantially aligned with the device cage atpre-selected test points, and at least one controller setting a targetfirst characteristic of the at least one pressure actuator assembly. Theat least one pressure actuator assembly can include an actual firstcharacteristic, and the at least one controller can set a target secondcharacteristic of the at least one pressure actuator assembly. The atleast one pressure actuator assembly can include an actual secondcharacteristic, and the at least one controller can adjust the at leastone pressure actuator assembly. The adjusting can enable the actualfirst characteristic to approach the target first characteristic, canenable the actual second characteristic to approach the target secondcharacteristic, and can stop the adjusting when the first of the actualfirst characteristic substantially equals the target firstcharacteristic, or when the actual second characteristic substantiallyequals the target second characteristic happens. The at least onecontroller can adjust the actual first characteristic to maintain thetarget second characteristic substantially constant. The at least onecontroller can test the device by monitoring the actual firstcharacteristic over time.

The actual first characteristic can optionally include an actual forceand the target first characteristic can optionally include a targetforce. The actual second characteristic can include actual position andthe target first characteristic can include target position. Thepressure actuator assembly can optionally include an actuator arm thatcan couple electronic and mechanical movement means to move and positiona pin actuator. The pin actuator can provide the target force on thedevice. The pressure actuator assembly can optionally include a linearactuator moving the actuator arm towards the target position. Theactuator arm can force the device based at least on commands provided bythe at least one controller. The pressure actuator assembly canoptionally include an actuator mount coupling the linear actuator with acontroller housing enclosing the at least one controller. The actuatormount can optionally include fastening cavities coupling the actuatormount with a platform. The actuator mount can optionally includeactuator mounting cavities accommodating at least one alignment peg. Thepressure actuator assembly can optionally include a motor interface thatcan couple a motor to the linear actuator. The linear actuator caninclude operable coupling with a slide block. The slide block caninclude operable coupling with the actuator arm. The slide block cantravel along the linear actuator, and can change the actual position ofthe actuator arm, moving the actuator arm towards the target position.The system can optionally include a communications means that can couplethe pressure actuator assembly with the at least one controller.

The test system of the present teachings for testing at least one devicecan include, but is not limited to including, at least one forceactuator and a processor that can access at least one description of theat least one device. The processor can create command information basedat least on the at least one description, and the processor can receivefeedback from the at least one force actuator. The test system caninclude a controller that can access the motion information. Thecontroller can create at least one control command based on the commandinformation. The controller can test the at least one device bycontrolling the at least one force actuator based on the at least onecontrol command.

The controller can optionally include a group processor managing atleast one group. Each group can include either an active or an inactivestatus. Each of the active groups can include at least one node object.The group processor can access one of the control commands for each ofthe node objects. The controller can optionally include a node processorthat can update the at least one node object based on the commandinformation, and at least one actuator driver that can relay the atleast one control command between the updated at least one node objectand at least one hardware device. The at least one actuator driver cancommunicate the at least one control command to the at least onehardware device through at least one hardware driver. The test systemcan optionally include a command interface that can provide the controlinformation to the at least one node processor, and can receive sensorinformation from at least one sensor processor. The test system canoptionally simultaneously control multiple of the at least one forceactuators.

BRIEF DESCRIPTION OF THE DRAWINGS

The present teachings will be more readily understood by reference tothe following description, taken with the accompanying drawings, inwhich:

FIG. 1 is a schematic diagram of a side view of the force actuationsystem of the present teachings;

FIG. 2 is a schematic diagram of an under front view of the forceactuation system of the present teachings;

FIG. 3 is a schematic diagram of an exploded view of the force actuationsystem of the present teachings;

FIG. 4 is a schematic diagram of the platform of the present teachings;

FIG. 5 is a schematic diagram of top and bottom views of the holdermount of the present teachings;

FIG. 5A is a schematic diagram of first and second views of thealignment peg of the present teachings;

FIG. 5B is a schematic diagram of an exploded view of an exemplarydevice that the system of the present teachings can accommodate;

FIG. 5C is a schematic diagram of the disposable base top/topgasket/membrane gasket of the exemplary device that can be subject tothe applied force of the present teachings;

FIG. 5D is a schematic diagram of top and bottom views of the fluid pathmembrane of the exemplary device that can be subject to the appliedforce of the present teachings;

FIG. 6 is a schematic diagram of top and bottom views of the device cageof the present teachings;

FIG. 7A is a schematic diagram of top and bottom views of the lid of thepresent teachings;

FIG. 7B is a schematic diagram of first and second views of the flexibletip set screw of the present teachings;

FIG. 8A is a schematic diagram of first and second views of the endeffector of the present teachings;

FIG. 8B is a schematic diagram of first and second views of the flexibletip set screw of the present teachings;

FIG. 8C is a schematic diagram of first and second views of the pinactuator of the present teachings;

FIG. 8D is a schematic diagram of first and second views of the fluidshutoff actuator of the present teachings;

FIGS. 9 and 10 is a schematic diagram of first and second side views ofthe pressure actuator assembly of the present teachings;

FIG. 11 is a schematic diagram of an exploded view of the pressureactuator assembly of the present teachings;

FIG. 12 is a schematic diagram of first and second views of the actuatormount of the present teachings;

FIG. 13 is a schematic diagram of first and second views of themotor/PCB housing cover of the present teachings;

FIG. 14 is a schematic diagram of first and second views of themotor/PCB housing of the present teachings;

FIG. 15 is a schematic diagram of first and second views of thecontroller PCB of the present teachings;

FIG. 16 is a schematic diagram of first and second views of the armadapter of the present teachings;

FIG. 17 is a schematic diagram of first and second views of the linearactuator/actuator arm assembly of the present teachings;

FIG. 18 is a schematic diagram of an exploded view of the linearactuator/actuator arm assembly of the present teachings;

FIG. 19 is a schematic diagram of first and second views of the actuatorarm of the present teachings;

FIG. 20 is a schematic diagram of first and second views of the motor ofthe present teachings;

FIG. 21 is a schematic diagram of first and second views of the slideblock of the present teachings;

FIG. 22 is a schematic diagram of first and second views of the linearactuator of the present teachings;

FIG. 23 is a schematic diagram of first and second views of the motorcoupling of the present teachings;

FIG. 24 is a flowchart of the method for applying force of the presentteachings;

FIG. 25 is a schematic block diagram of the force activation system ofthe present teachings;

FIG. 25A is a schematic block diagram of the motion controllerarchitecture of the present teachings;

FIG. 25B is a schematic block diagram of a first hardware configurationof the system of the present teachings;

FIG. 25B-1 is a schematic block diagram of a second hardwareconfiguration of the system of the present teachings;

FIG. 25B-2 is a schematic block diagram of a third hardwareconfiguration of the system of the present teachings;

FIG. 25C is a schematic block diagram of details of the motioncontroller architecture of the present teachings;

FIG. 25D is a schematic block diagram of a second configuration of themotion controller architecture of the present teachings;

FIG. 25E is a schematic block diagram of the node configuration table ofthe motion controller architecture of the present teachings;

FIGS. 25F and 25G are schematic block diagrams of details of the nodeconfiguration table of the motion controller architecture of the presentteachings;

FIGS. 25H and 25I are schematic block diagrams of details of the sensorconfiguration table of the motion controller architecture of the presentteachings; and

FIG. 25J is a flowchart of the method of use of the motion controllerarchitecture of the present teachings.

DETAILED DESCRIPTION

A configuration of the system and method for applying pressure to adevice of the present teachings is discussed in detail herein inrelation to testing of diaphragm valves, prosthetic arms, and otherapplications. Various types of applications may take advantage of thefeatures of the present teachings.

Referring now to FIGS. 1 and 2, force actuation system 3100 for applyingforce to a device can accommodate the placement of a device with respectto the forcing mechanism, the controlled actuation of the forcingmechanism, and the monitoring of results. The forcing mechanism, alsoreferred to herein as a pressure actuator, can be associated with actualand target characteristics such as, for example, actual and targetforces. The target characteristics can be selected based at least on thedevice. The pressure actuator can be adjusted to enable the actualcharacteristics to approach the target characteristics, and theadjustment can be stopped when one of the actual characteristicssubstantially equals its counterpart target characteristic. Conversely,at least one characteristic, for example, force, can be held constantwhile the position of actuator arm 3111H (FIG. 19) changes. Forceactuation system 3100 can include, but is not limited to including, atleast one pressure actuator assembly 3111 that can be operably coupledwith platform 3101. At least one pressure actuator assembly 3111 canprovide the forcing mechanism, controlled actuation, and resultmonitoring. Force actuation system 3100 can accommodate a placement andalignment means for the device that can be operably coupled with atleast one pressure actuator assembly 3111. In some configurations,multiple of at least one pressure actuator assembly 3111 can be providedthat can force multiple parts of the device, and/or multiple devicessequentially and/or in parallel, depending on the application. Forexample, if a single device includes multiple membranes, multiplepressure actuator assemblies 3111 can be aligned with each of themultiple membranes. Pressure actuator assemblies 3111 can exercise themultiple membranes asynchronously or in parallel, for example, toexercise the entirety of the device versus the individual membranes.Pressure actuator assemblies 3111 can exercise individual of themultiple membranes completely or partially independently by, forexample, controlling the timing of pin actuation. Force actuation system3100 can apply force to many types and styles of devices. Actuatorassembly 3111 can be positioned on platform 3101, and device cover 3107can include cavities, that can together accommodate any number of devicegeometries.

Referring now to FIG. 3, force actuation system 3100 can include, but isnot limited to including, accommodations for device 3109. Each of theseaccommodations can be modified for a particular device. The descriptionherein relates to a cassette, but force actuation system 3100 is notlimited to applying force to the particular described cassette, orcassettes in general. Device accommodations can include, but are notlimited to including, at least one holder mount 3103 operably coupledwith platform 3101, at least one device holder 3105 operably coupledwith holder mount 3103, and at least one device cover 3107 operablycoupled with holder mount 3103. Force actuation system 3100 can includeat least one pin actuator 3113 that can provide the forcing interfacebetween at least one device 3109 and pressure actuator assembly 3111. Atleast one device 3109 can be insertably coupled with at least one deviceholder 3105. Force actuation system 3100 can include end effector offset3110 that can couple pressure actuator assembly 3111 with at least onepin actuator 3113. Pressure actuator assembly 3111 can be coupled withplatform 3101 using, for example, but not limited to at least onealignment peg 3125. Set screws 3123 and 3126 can provide side and topmounting and alignment of device holder 3105. Pressure seal 3121 canenable fluid-tight forcing.

Referring now primarily to FIG. 4, platform 3101 can stably support theelements of force actuation system 3100. Platform 3101 can be any size,and can include any number of mounting cavities in any configurationthat can accommodate the placement the number of pressure actuatorassemblies 3111 (FIG. 9) appropriate for the particular device to beforced. Platform 3101 can include, but is not limited to including,platform first side 3101A that can accommodate mounting of, for example,but not limited to, at least one holder mount 3103 (FIG. 5) and at leastone pressure actuator assembly 3111 (FIG. 9). Platform 3101 can includeplatform second side 3101C that can accommodate, for example, fouractuator mounting cavities 3101D/F/G/H and two platform mountingcavities 3101E. For example, a first of at least one pressure actuatorassembly 3111 (FIG. 9) can be aligned with and mount at actuatormounting cavities 3101D, a second of at least one pressure actuatorassembly 3111 (FIG. 9) can be aligned with and mount at actuatormounting cavities 3101F, a third of at least one pressure actuatorassembly 3111 (FIG. 9) can be aligned with and mount at actuatormounting cavities 3101G, and a fourth of at least one pressure actuatorassembly 3111 (FIG. 9) can be aligned with and mount at actuatormounting cavities 3101H. In some configurations, mounting cavities3101D/E/F/G/H can optionally accommodate fastener flush mount. Actuatormounting cavities 3101D/F/G/H can each include, for example, but notlimited to, five cavities that can include various sizes and shapes ofcavities.

Referring now primarily to FIG. 5, at least one holder mount 3103 canprovide secure mounting and venting for the device to which pressure isto be applied, for example, but not limited to, device 3109 (FIG. 5B).Holder mount 3103 can be any size and shape, and can include any numberof mounting cavities appropriate for a particular device to be forced.Holder mount 3103 described herein include features that can enableaccurate forcing such as, for example, cavity configurations and setscrew features. At least one holder mount 3103 can optionallyaccommodate, on holder mount first side 3103A, drop-on and/or slide-inmounting of device 3109 (FIG. 5B) in device holder cut-out 3103M. Holdermount first side 3103A can include holder mount first edge 3103E thatcan include edge mounting cavities 3103F that can accommodate operablecoupling between at least one holder mount 3103 and at least one devicecage 3105 (FIG. 6). Device holder cut-out 3103M can include cut-outmounting cavities 3103G that can accommodate further operable couplingbetween at least one holder mount 3103 and at least one device cage 3105(FIG. 6), and can further provide venting for device 3109 (FIG. 5B).Holder mount first side 3103A can include lid mounting cavities 3103)that can accommodate placement and operable coupling between at leastone lid 3107 (FIG. 7A) and at least one holder mount 3103. At least oneholder mount 3103 can include holder mount third edge 3103I that canoptionally include at least one cut-out 3103M. At least one cut-out3103M can accommodate slide-in mounting of device cage 3105 (FIG. 6). Atleast one cut-out 3103M can be any shape and size, and the shape andsize can depend, for example, but not limited to, on the shape and sizeof at least one device cage 3105 (FIG. 6). Holder mount third edge 31031can optionally form an enclosure in which at least one cut-out 3103M canaccommodate drop-in mounting of at least one device cage 3105 (FIG. 6).At least one cut-out 3103M can include at least one beveled edge 3103Hthat can facilitate placement of at least one device cage 3105 (FIG. 6).At least one holder mount 3103 can include, but is not limited toincluding, holder mount second side 3103C that can include at least oneholder platform mounting cavity 3103K. At least one cavity 3103K canoptionally accommodate flush mounting of fasteners. Holder platformmounting cavities 3103D can accommodate fasteners that can operablycouple at least one holder mount 3103 with platform 3101 (FIG. 3). Atleast one alignment peg 3125 (FIG. 5A) can, for example, but not limitedto, provide the operable coupling and alignment between at least oneholder mount 3103 and platform 3101 (FIG. 3) at mounting cavities 3103K.At least one alignment peg 3125 (FIG. 5A) can also provide alignment andmounting features between at least one holder mount 3103 and at leastone lid 3107 (FIG. 7A) using, for example, but not limited to at leastone alignment peg 3125 (FIG. 5A) encased within at least one pegmounting cavity 3103D.

Referring now to FIG. 5A, alignment peg 3125 can include, for example,but not limited to, cylindrical body 3125C, first end 3125A, and secondend 3125B. First end 3125A and second end 3125B can optionally includebeveled edges.

Referring now primarily to FIG. 5B, exemplary device 3109 is describedherein to illustrate the features of force actuation system 3100 (FIG.1). Many other types and sizes of devices can be forced with forceactuation system 3100 (FIG. 1). Exemplary device 3109 can include, butis not limited to including, a cassette, for example, a disposablehousing assembly as described in detail in, for example, '646. Thedisposable housing assembly can include disposable base bottom 31264operably coupled with disposable base top/top gasket/membrane gasket31212-002/004/005. Membrane gasket 31212-005 can retain coated membrane31141 in position in disposable base top 31212-002. Fluid, includingair, can enter the cassette through a luer lock adapter, and compositetube 40014, and can further continue into the cassette through fluidpath cover 31267. Fluid path cover 31267 can be operably connected tobent-u needle 31265. Bent-u needle 31265 can be held in place by needlegasket 31268 and can provide a channel for fluid flow from compositetube 40014 to fluid path membrane 31188. Disposable base needle cover31266 can cover and protect fluid path cover 31267. An o-ring can securethe operable coupling between bent-u needle 31265 and disposable basetop 31264.

Referring now primarily to FIG. 5C, fluid path membrane 31188 (FIG. 5B)can allow for pumping and flow of fluid. Disposable base top 31212-002can include one or more openings 31212D that can expose at least aportion of fluid path membrane 31188 (FIG. 5B) for actuation by pinactuator 3113 (FIG. 8C). Openings 31212D can allow the fill volume to becontrolled during filling of well 31264C.

Referring now to FIG. 5D, the disposable housing assembly can includefluid path membrane 31188. Fluid path membrane 31188 can include atleast partial disposal over volcano valves and a pumping recess includedon/within disposable base bottom 31264 (FIG. 5B). Fluid path membrane31188 may include a flexible material, e.g., which may be selectivelyengaged against volcano valves by pin actuator 3113 (FIG. 8C) atmembranes 31188A to force the disposable housing assembly. Any ofmembranes 31188A can be forced simultaneously and/or individually bydepressing at least one of membranes 31188A and monitoring the result.Depressed membranes 31188A can alter the shapes of valve cavities31188B.

Referring now to FIG. 6, at least one device cage 3105 can accommodate,for example, device 3109 (FIG. 5B) that can include, but is not limitedto including, an insulin pump cassette such as those described in U.S.Pat. No. 8,496,646 entitled Infusion Pump Assembly, issued on Jul. 30,2013 ('646). At least one device cage 3105 can include, but is notlimited to including, cage first side 3105A. Cage first side 3105A caninclude device well 3105B having at least one well ear 3105C that canaccommodate, for example, removing of device 3109 (FIG. 5B), and havingdevice positing indent 3105K that can accommodate, for example,positioning of device 3109 (FIG. 5B). At least one device cage 3105 caninclude at least one cage handle 3105G that can optionally include thumbrest 3105J. In some configurations, cage first side 3105A can includecavity 3105F that can accommodate, for example, but not limited to,flexible-tipped set screw 3126 (FIG. 7B) that can provide alignment andfastening of at least one device cage 3105 to at least one lid 3107(FIG. 7A). Cage first side 3105A can include tube well 3105H that canaccommodate composite tube 40014 (FIG. 5B), for example. Wells 3105D and3105E can accommodate venting and mounting features, for example. Atleast one device cage 3105 can include cage second side 3105I that can,for example, include a smoothed surface that can accommodate insertionand removal of at least one device cage 3105 from at least one holdermount 3103 (FIG. 5).

Referring now to FIG. 7A, at least one lid 3107 can include at least onecavity 3107D configured to accommodate forcing of any device. At leastone lid 3107 can provide a cover for device 3109 (FIG. 5B) and caninclude operable coupling with device holder 3103 (FIG. 5) usingflexible-tip set screw 3126 (FIG. 5A). At least one lid 3107 can includelid first side 3107A and lid second side 3107B. Lid first side 3107A canprovide an interface with pressure actuator assembly 3111 (FIG. 9), andcan include at least one device interface cavity 3107D and device cagecavities 3107C. At least one device cage cavity 3107C can operablycouple with at least one lid mounting cavity 3103) (FIG. 5) through atleast one type of fastener that can include, but is not limited toincluding, bolts, screws, hook-and-eye, and glue. At least one deviceinterface cavity 3107D can accommodate, but is not limited toaccommodating, at least one pin actuator 3113 (FIG. 8C). Coupling cavity3107E can operably couple with at least one holder mounting cavity 3103D(FIG. 5). Lid second side 3107B can optionally include cavities3107F/G/H/J that can accommodate, for example, protrusions from aparticular device.

Referring now to FIG. 7B, flexible-tip set screw 3126 can operablycouple at least one lid 3107 (FIG. 7A) to device cage 3105 (FIG. 6) atindent 3105F (FIG. 6). Flexible-tip set screw 3126 can include, but isnot limited to including, cylindrical body 3126C that can include, butis not limited to including, threading, and can include body first end3126F and body second end 3126G. Body first end 3126F can includeflexible tip 3126A that can enable snap-in placement and accuratealignment of device cage 3105 (FIG. 6). Body first end 3126F can includebeveled edges 3126B. Body second end 3126G can include beveled edge3126E, and can optionally include driver head cavity 3126H that canaccommodate, for example, but not limited to, a flat head screw driver.Body second end 3126G can include any type of screw head such as, forexample, but not limited to, Philips, Allen, and/or a combination ofhead types.

Referring now to FIG. 8A, end effector offset 3110 can provide aninterface between actuator assembly 3111 (FIG. 3) and pin actuator 3113(FIG. 8C) and/or fluid shutoff actuator 3121 (FIG. 8D). End effectoroffset 3110 can include, but is not limited to including, arm end cavity3110B that can house arm end 3111H11 (FIG. 19) and, optionally, fluidshutoff actuator 3121 (FIG. 8D). End effector offset 3110 can includepin actuator cavity 3110A that can house pin actuator 3113 (FIG. 8C). Insome configurations, pin actuator cavity 3110A can include beveled edges3110E for flush mounting. In some configurations, end effector offset3110 can include first portion 3110C that can be a different size fromsecond portion 3110D. The different portion sizes can form a taper. Insome configurations, first portion 3110C can include shaped end 3110Fthat can be, for example, but not limited to, rounded. In someconfigurations, end effector offset 3110 can include beveled edges 3110Gthat can, for example, reduce the overall weight of force actuationsystem 3100 (FIG. 1). End effector offset 3110 can include depth 3110Hthat can vary according to the sizes of arm end 3111H1 (FIG. 19) and pinactuator 3113 (FIG. 8C), or for any other reason.

Referring now to FIG. 8B, flexible tip set screw 3123 can providesnap-in fastening and alignment between device holder mount 3103 (FIG.5) and device cage 3105 (FIG. 6). Set screw 3123 can include threads3123A that can be any direction, density, diameter, thread count, andlength. Set screw 3123 can include screw first end 3123B and screwsecond end 3123C. Screw first end 3123B can include screwdriverinterface 3123E and flexible tip 3123G. Flexible tip 3123G can enablesnap-in mounting and alignment of device cage 3105 (FIG. 6) throughcavities 3103F (FIG. 5) Screw second end 3123C can include screwdriverinterface 3123D that can accommodate, but is not limited toaccommodating, flat head, Philips head, and/or Allen wrenchscrewdrivers. Screw second end 3123C can include protrusion 3123F thatcan extend set screw 3123 and optionally facilitate access toscrewdriver interface 3123D.

Referring now to FIG. 8C, pin actuator 3113 can press upon device 3109(FIG. 5B) to perform forcing on device 3109 (FIG. 5B). Pin actuator 3113can be controlled by actuator assembly 3111 (FIG. 9) and can providepressure on device 3109 (FIG. 5B) at pin head 3113F. Pin actuator 3113can include, but is not limited to including, first connector stop 3113Band second connector stop 3113C surrounding connector catch area 3113Dthat, together, can operably couple pin actuator 3113 with end effectoroffset 3110 (FIG. 8A). Second connector stop 3113C can be terminatedwith end bulge 3113E that can provide, for example, but not limited to,connective support to pin 3113A. Pin 3113A can be any shape and size,and can be constructed from any type of material suitable for theforcing being performed. Pin actuator can be any length and thicknesssuitable for the forcing being performed.

Referring now to FIG. 8D, fluid shutoff actuator 3121 can shut downfluid flow from/to bent-u needle 31265 (FIG. 81) at first fluid pathway31265D (FIG. 81). Fluid shutoff actuator 3121 can include, but is notlimited to including, body 3121C that can include, but is not limited toincluding, a substantially non-textured cylindrical surface. Body 3121Ccan optionally include a textured surface and a non-cylindrical shape.Fluid shutoff actuator 3121 can include overhang 3121B that can providea stopping mechanism that can disable further movement towards device3109 (FIG. 5B) if necessary. Body cut-out 3121G can streamline fluidshutoff actuator 3121 to fit various-sized openings in lid 3107 (FIG.7A), and can accommodate the shape of device 3109 (FIG. 5B). Fluidshutoff actuator 3121 can include peg fitting 3121A that can operablycouple fluid shutoff actuator 3121 with arm 3111H (FIG. 19) at cavity3111H12 (FIG. 19). Peg fitting 3121A can include connective support3121F that can enhance the coupling between body 3121C and peg fitting3121A. Cutoff base 3121H can include cavity 3121D that can enableoperable coupling between fluid shutoff actuator 3121 and a pressurizingdevice such as, for example, pin actuator 3113 (FIG. 8C). Finger 3121Ecan provide a pressure point to inhibit fluid flow from first fluidpathway 31265D (FIG. 81).

Referring now to FIGS. 9 and 10, at least one pressure actuator assembly3111 can enable applying pressure to device 3109 (FIG. 5B) bycontrolling pin actuator 3113 (FIG. 8C) according to dynamicpressurizing instructions, and can monitor the results of the pressuringby sensing forces and/or linear displacement encountered during thepressurizing. At least one pressure actuator assembly 3111 can includecontroller housing 3111A than can house and protect controller printedcircuit board 3111D (FIG. 15) and motor 3111C (FIG. 20) (within motorhousing 3111B (FIG. 14)). Pressure actuator assembly 3111 can includeactuator arm 3111H that can couple electronic and mechanical movementmeans to move and position pin actuator 3113 (FIG. 8C). Pressureactuator assembly 3111 can include linear actuator 3111G that can forceactuator arm 3111H into a position appropriate for forcing device 3109(FIG. 5B) or another type of device, as directed by controller 3111D1(FIG. 15), and actuator mount 3111K that can couple linear actuator withcontroller housing 3111A. Actuator mount 3111K can include fasteningcavities that can couple actuator mount 3111K with platform 3101 (FIG.4) at actuator mounting cavities 3101D/F/G/H (FIG. 4) using, forexample, fasteners 3123A and/or alignment peg 3125.

Referring now to FIG. 11, pressure actuator assembly 3111 can includemotor/PCB housing 3111B (FIG. 14), motor 3111C (FIG. 20), controller PCB3111D (FIG. 15), and encoder PCB (not shown). Motor interface 3111E(FIG. 23) can couple motor 3111C (FIG. 20) to linear actuator 3111G(FIG. 22). Linear actuator 3111G (FIG. 22) can be operably coupled withslide block 3111) (FIG. 21). Arm adapter 3111I can operably coupleactuator arm 3111H (FIG. 19) with slide block 3111J (FIG. 21).

Referring now to FIG. 12, actuator mount 3111K can include, but is notlimited to including, mount first side 3111K2 and mounting face 3111K1.Mount first side 3111K2 can include at least one linear actuatormounting cavity 3111K4 that can be used to fasten linear actuator 3111G(FIG. 22) to actuator mount 3111K. Linear actuator mounting features3111K3 can enable accurate and stable placement of linear actuator 3111G(FIG. 22). Actuator mount 3111K can include at least one stabilityfeature 3111K7 that can enable actuator mount 3111K to rigidly supportlinear actuator 3111G (FIG. 22). Actuator mount 3111K can be aligned andstably positioned on platform 3101 (FIG. 4) by alignment pegs 3125 (FIG.5A) in peg cavities 3111K6. Actuator mount 3111K can be securelyfastened to platform 3101 (FIG. 4) by any attachment means such as, forexample, but not limited to, glue, screws, bolts, and/or hook-and-eye.In some configurations, the attachment means can be screws and/or boltsthrough cavities 3111K5/3111K9.

Referring now to FIG. 13, motor/PCB housing cover 3111A can includeconnector bump out 3111A1 that can provide a space for connectors andwiring between motor 3111C (FIG. 20) and encoder PCB (not shown).Motor/PCB housing cover 3111A can include CANbus cavity 3111A3 that canenable CANbus/power wiring to pass between CAN/power connectors 3111D2(FIG. 15) and external communications/power supply (not shown). Motorvent cavity 3111A4, that can include, but is not limited to including,louvers 3111A6, can enable ventilation to motor 3111C (FIG. 20). Bumpout 3111A2 can widen motor/PCB housing cover 3111A to accommodate thegeography of controller PCB 3111D (FIG. 15). Filet edge 3111A5 canstreamline the profile of motor/PCB housing cover 3111A to manageoverall weight and maintain strength and stability of force actuationsystem 3100 (FIG. 1). Ridge feature 3111A7 can accommodate alignmentwhile inserting/removing motor/PCB housing 3111B (FIG. 14).

Referring now to FIG. 14, motor/PCB housing 3111B can include at leastone mounting feature 3111B1 that can enable mounting of encoder PCB (notshown). Housing 3111B can include at least one indent 3111B2 that canenable air flow around encoder PCB (not shown), and can manage overallweight. Motor 3111C (FIG. 20) can be vented through motor vents 3111B3,and snap-on features 3111B4 can enable secure mounting of housing 3111Bwithin cover 3111A (FIG. 13). Motor coupling 3111E (FIG. 23) can snapinto alignment across bridge 3111B8 and can be securely attached withfastening means through, for example, cavities 3111B6/3111B7. Fasteningmeans can include, but are not limited to including, screws, bolts,glue, and hook-and-eye. Controller PCB 3111D (FIG. 15) can be mounted tohousing 3111B at controller mounting points 3111B8, and can rest uponlip 3111B5. Motor 3111C (FIG. 20) and motor coupling 3111E (FIG. 23) canbe housed within housing 3111B.

Referring now to FIG. 15, controller printed circuit board (PCB) 3111Dcan provide commands to control force actuation system 3100 (FIG. 1) andcan receive sensor input that can inform the commands. Controller PCB3111D can include, but is not limited to including, CPU 3111D1, at leastone capacitor 3111D4, and several connectors to off-board devices. Forexample, controller PCB 3111D can include CAN/power connectors 3111D2that can connect controller PCB 3111D to power and externalcommunications devices. Controller PCB 3111D can include quad encoderpower connector 3111D6 that can enable power for the encoder PCB (notshown) for motor 3111C (FIG. 20) and controller PCB 3111D. ControllerPCB 3111D can include Hall sensor connector 3111D7 that can enablesignal exchange between Hall sensor PCB (not shown) mounted on actuatorarm 3111H (FIG. 19) and controller PCB 3111D, and quad encoder PCBconnector 3111D3 that can enable signal exchange between quad encoder(not shown) and controller PCB 3111D. Any configuration of Hall sensorconnector 3111D7 and quad encoder PCB connector 3111 D3 is possible.Controller PCB 3111D can include motor connectors 3111D5 that can enablesignal exchange between motor 3111C (FIG. 20) and controller PCB 3111D.

Referring now to FIG. 16, arm adapter 31111 can enable alignment betweenlinear actuator 3111G (FIG. 22) and actuator arm 3111H (FIG. 19). Armadapter 3111I can include, but is not limited to including, at least onemounting cavity 3111I2 that can accept fastening means such as, forexample, but not limited to, screws and/or bolts that can attach armadapter 3111I to slide block 3111J (FIG. 21). Arm adapter 3111I caninclude vertical and horizontal alignment features3111I1/3111I3/3111I4/3111I5/3111I6, and can be sized to fit in armcavity 3111H2 (FIG. 19) in actuator arm 3111H (FIG. 19), enabling stablealignment between linear actuator 3111G (FIG. 22) and actuator arm 3111H(FIG. 19).

Referring now to FIGS. 17 and 18, linear actuator/actuator arm assemblycan include, but is not limited to including, actuator arm 3111H thatcan be connected to slide block 3111J. Slide block 3111J can be operablycoupled with linear actuator 3111G. Linear actuator/actuator armassembly can be driven by motor 3111C that can be operably coupled withlinear actuator 3111G through motor coupling 3111E.

Referring now to FIG. 19, after actuator arm 3111H encounters device3109 (FIG. 5B), actuator arm 3111H can receive a constant force from pinactuator 3113 (FIG. 8C) that can receive the force from device 3109(FIG. 5B). Actuator arm 3111H can be displaced based on the forcesupplied by device 3109 (FIG. 5B), and the displacement can determinethe amount of force received. Actuator arm 3111H can include, but is notlimited to including, pivot member 3111H3 that can change position withthe change in force and can return to a neutral position through actionof springs 3111H15. Displacement of force member 3111H4 can bedetermined by gaps 3111H13/3111H14 that can be formed by the movement ofdisplacement block 3111H9. Displacement block 3111H9 can include a hardstop after a certain amount of displacement/force. Actuator arm 3111Hcan include mounting member 3111H11 that can be operably coupled withend effector offset (FIG. 8A) in cavity 3110B (FIG. 8A), and can enablemounting of fluid shutoff actuator 3121 (FIG. 8D) at peg fitting 3121A(FIG. 8D). In some configurations, cavity 3111H12 can accommodate afastener such as a screw or bolt. A sensor that can detect displacementof pivot member 3111H3 can be mounted at cavity 3111H14, and electronicsto receive data from the sensor can be mounted at mounting cavities3111H1. Cavities 3111H5/3111H8, as well as shaped edged 3111H7, canenable overall weight and part placement management. A Hall sensormagnet (not shown) can be mounted at, for example, fastener cavities3111H1, with possible associated Hall sensor PCB at cavity 3111H2mounted at fastener cavities 3111H6.

Referring now to FIG. 20, motor 3111C can include, but is not limited toincluding, a DC motor, brushless or brushed, having, for example, anironless rotor and aluminum nickel cobalt magnets. Motor 3111C caninclude, for example, MAXON® A-max motors.

Referring now to FIG. 21, slide block 3111J can include at least onefastener cavity 3111J3 that can accommodate mounting of arm adapter3111I (FIG. 16) onto slide block 3111J. Slide block guides 3111J2 andslide block rail fittings 3111J4/3111J5 can ride on actuator rails3111G1 (FIG. 22), and actuator bumper 3111J1 can inhibit progress ofslide block 3111J when bumper 3111J1 encounters an obstacle. Slide block3111J can accommodate lead or ball/lead screw 3111G2 (FIG. 22) in cavity3111J5.

Referring now to FIG. 22, linear actuator 3111G can include motor cavity3111G5 that can accommodate motor coupling 3111E (FIG. 23). Motor 3111C(FIG. 20) can drive ball/lead screw 3111G2 and thus propel slide block3111) (FIG. 21), actuator arm 3111H (FIG. 19), and ultimately pinactuator 3113 (FIG. 8C). Linear actuator can include rails 3111G1 uponwhich slide block 3111) (FIG. 21) can ride. Linear actuator can includemounting cavities 3111G3 that can enable operable coupling of linearactuator 3111G to actuator mount 3111K (FIG. 12).

Referring now to FIG. 23, motor coupling 3111E can operably couplelinear actuator 3111G (FIG. 22) with motor 3111C (FIG. 20) to transmitpower between them. Motor coupling 3111E can include a clampingmechanism such as, for example, but not limited to, bellows and/or beam.Motor coupling 3111E can include commercially-available devices such as,for example, but not limited to, LOVEJOY® couplings. Motor coupling3111E can optionally include a clutch that can limit torque. Motorcoupling 3111E can also include flexible and jaw couplings. Motorcoupling 3111E can optionally compensate for lateral, axial, and angularmisalignments. Motor couplings 3111E can optionally include no backlashand require no maintenance. Motor coupling 3111E can include, but is notlimited to including, body 3111E2 that can, for example, include acylindrical shape. Motor coupling 3111E can include motor mount cavity3111E1 and linear actuator mount cavity 3111E3.

Referring now primarily to FIG. 24, method 3150 for activating/applyingforce to a device can include, but is not limited to including, setting3151 a target first characteristic of a pressure actuator, the pressureactuator having an actual first characteristic, setting 3153 a targetsecond characteristic of the pressure actuator, the pressure actuatorhaving an actual second characteristic, and adjusting 3155 the pressureactuator, the adjusting enabling the actual first characteristic toapproach the target first characteristic, and the actual secondcharacteristic to approach the target second characteristic. Method 3150can include stopping 3157 the adjusting when the first of the actualfirst characteristic substantially equals the target firstcharacteristic, or the actual second characteristic substantially equalsthe target second characteristic happens, and monitoring 3161 the actualfirst characteristic over time. In some configurations, a test can beexecuted in which the force can be held constant by modifying theposition of actuator arm 3111H (FIG. 19).

Referring now to FIG. 25, force actuator system 50 can include, but isnot limited to including, force actuator 3100, processor 55, receivingcomputer aided design (CAD) files 65 and other information through, forexample, but not limited to, electronic communications from externalapplications 66, and motion controller 59. Processor 55 can providecommands to motion controller 59 that can test the structures designedand provided in CAD files 65. Processor 55 can also receive, forexample, vision data 77 from vision system 63, hardware/sensor data 75,and user input 78, and can calculate Gcode 67 based at least on acombination of one or more of CAD files 65, vision data 77, user input78, hardware data 75, and other information. Interpreter 57 caninterpret Gcode 67 and provide position and force (PF) information 69 tomotion controller 59. Motion controller 59 can compute at least onemotion command 73 based at least on PF information 69, and can provideat least one motion command 73 to force actuator 3100. Force actuator3100 can control at least one pin actuator 3113 (FIG. 8C) based on atleast one motion command 73.

Continuing to refer to FIG. 25, command interface 53 can enable userinput 78 that can be used to manually command and/or to assist inautomatically commanding force actuator 3100. Command interface 53 caninclude, but is not limited to including, options for adjusting the typeof motion controller 59, the available electronic communications 67, andwhether or not electronic communications 67 with external applications66 is connected. Options can be adjusted through command interface 53.The values of the axes controlled by motion controller 59 can be shownand jogged using command interface 53. The jog function can enable freemovement of force actuator 3100 to accommodate maintenance and repair offorce actuator 3100.

Continuing to refer to FIG. 25, interpreter 57 can receive Gcode 67 fromCAD processor 56, and can transform Gcode 67 into PF information 69 thatcan be used by motion controller 59 to create motion commands 73 forforce actuator 3100. Interpreter 57 can interface with motion controller59 through any kind of electronic communications 67 including, but notlimited to, direct wiring, Ethernet, and USB.

Referring now primarily to FIG. 25A, controller code can control anarbitrary number of actuators such as are incorporated in actuatorassembly 3111 (FIG. 9) in any desirable configuration. Each actuator canbe controlled, for example, by one or more of several configurablecontrol types, and can be linked to one or more sensors. Configurablecontrol types can include, but are not limited to including, passivepass-through commands, PID control loop, and configurable PID loops formultiple inputs. Motion controller 59 can enable configuration of nestedcontrol loops. In some configurations, motion controller 59 can include,but is not limited to including, group processor 60A, node processor60B, sensor object 205C, sensor drivers 205D, actuator drivers 211,hardware drivers 212, and error processor 60E. Group processor 60A cancontrol, through node processor 60B, nodes to which actuators can beassociated. Actuators can be grouped to accomplish coordinated and/orsynchronized motion, and can be controlled, by actuator drivers 211,locally and/or remotely through networks that can communicate using, forexample, but not limited to, standard CANbus and/or EtherCAT protocols.Actuators can control, for example, rotational and/or linear motion, andcan be of various types, for example, but not limited to, binary valves,pneumatic compressors, small block valves (described in, for example,U.S. patent application Ser. No. 14/327,206, entitled Valve Apparatusand System, Atty. Dkt. # M66), and heated elements. Sensor object 205Ccan control sensors that can sense, for example, but not limited to,motor position, linear position, pressure, gyroscopic signals,accelerometer signals, and temperature. Sensors can include primarysensors that can feed into a control loop and secondary sensors that canprovide feed forward information. Motion controller 59 can includeoptions for multiple sensor inputs, and sensor limits can be used bymotion controller 59 to, for example, raise warnings and/or stop motion.Types of hardware drivers 212 can include, but are not limited toincluding local drivers, CAN drivers, motor drivers manufactured by, forexample, AMC® and/or Maxon®, and sell block (described in, for example,U.S. patent application Ser. No. 14/967,093 entitled Modular ValveApparatus and System, Atty. Dkt. # P82).

Referring now primarily to FIG. 25B, in some configurations, front end201 can include, but is not limited to including, computer aided design(CAD) processor 55, command interface 53, and interpreter 57. Commandinterface 53 can include, for example, but is not limited to including,a graphical user interface. Processor 55 can include, for example, butis not limited to including, a Raspberry Pi LYNX processor that canreceive CAD files 65 (FIG. 25) and create Gcode 67 (FIG. 25) based onCAD files 65 (FIG. 25). Interpreter 57 can compute, possibly in nearreal-time, PF information 69 (FIG. 25) from Gcode 67 (FIG. 25). PFinformation 69 (FIG. 25) can be provided, possibly in near real-time, tomotion controller 59 through, for example, but not limited to, CANbus203A and/or serial communications 203B and/or wifi 203C.

Continuing to refer to FIGS. 25B and 25B-1, motion controller 59 cansend, across, for example, but not limited to, CANopen/ EtherCAT 209, anassociated output signal to any of a number of hardware devices 211A(FIG. 25C). If hardware device 211A (FIG. 25C) is, for example, firstmotor drive 211B, then first motor drive 211B can provide motor controlsignals through CANopen/EtherCAT 209 to motion controller 59. Motioncontroller 59 can provide the signals to at least one hardware device211A (FIG. 25C), such as, for example, but not limited to, at least onebrushless DC motor drive 211B/211C, and/or another type 1 controller59A, and/or integration board 211D, and/or pressure actuator 211E. Insome configurations, motion controller 59 can drive at least fourmotors, for example, but not limited to, 3-phase brushless DC motors207. In some configurations, closed loop control can provide forposition feedback information 207A from an encoder. Motor drives211B/211C can include, but are not limited to including, motor drivesmanufactured by MAXON®, ADVANCED MOTION CONTROLS®, and/or ELMO®. Motioncontroller 59 can receive commands generated by front end 201 and cancoordinate hardware devices 211A (FIG. 25C) in real-time. In someconfigurations, communications between the motor and motion controller59 can be conducted over serial peripheral interface 207D. In someconfigurations, motor drive z-axis 211B3 can cause linear actuator 211B5to move and can cause quad 211B6 to provide feedback to motioncontroller 59. Motion controller 59 can include, but is not limited toincluding, any type of motion controller indicated herein by theterminology “type 1 controller” 205.

Referring now to FIG. 25B-2, motion controller 59 can control othermotion controllers 59 to perform force actuation simultaneously onvarious features of a device undergoing force testing, and variousdevices. In some configurations, force actuation can occursimultaneously on, for example, cassette fixture 1 15B-1A and cassettefixture 2 15B-1B that can be supported in the test by valve block15B-1C, that can also be controlled by motion controller 59.

Referring now primarily to FIG. 25C, group processor 60A (FIG. 25A) canmanage N groups 205A. Each of N groups 205A can include a status thatcan include, but is not limited to including, the states of active andinactive. Each of the active of N groups 205A can include M node objects205B. Both N and M can range from one to a value that can be limited byany possible hardware resource limitations. Group processor 60A (FIG.25A) can include a queue of commands that can include input from commandinterface 53 (FIG. 25A) and other sources that can include automaticsources. The queue of commands can include a group of commands for eachof M node objects 205B of each of N groups 205A. The commands can be,for example, but not limited to, grouped sequentially. In someconfigurations, node objects 205B can be tightly coordinated, forexample, but not limited to, in the case of 3-axis linear motion. Whennode objects 205B are tightly coordinated, feedback from each of nodescan be used to determine the command to its sibling nodes. In someconfigurations, node objects 205B can be synchronized. When node objects205B are synchronized, feedback from a first of node objects 205B maynot influence others of node objects 205B. Node processor 60B (FIG. 25A)can manage node objects 205B that can represent, for example, but notlimited to, actuator types described herein.

Continuing to refer primarily to FIG. 25C, sensor processor 206 (FIG.25A), can manage at least one sensor object 205C such as, for example,but not limited to, analog-to-digital converters, general purposeinput/output, accelerometer such as for example LMS303 manufactured bySTMicroelectronics®, linear position sensor such as, for example, butnot limited to, AS5410 manufactured by AMS®, and network input such as,for example, but not limited to, input received through CANbus andEtherCAT protocols. Each sensor object 205C has up to L values. Each canbe uniquely configured, for example, but not limited to, for raw valuein counts, scaled value, sensor gain, and optional filters. Each sensorobject 205C can include a timestamp that can indicate the age of thesensor data. For network input, sensor object 205C can set up a CANfilter to select messages of the appropriate CAN ID and save dataassociated with the selected message. Update frequency for each sensorobject 205C can be configurable, and can be, for example less than thecontrol update frequency. For example, a sensor may sample at 100 Hzwhile the control loop cycle may be 1 kHz. At least one motioncontroller 59 (FIG. 25A) can acquire sensor data, update communicationsinformation, and periodically process sensor data, update group data,and update node data. Sensor drivers 205D can enable sensor processor206 (FIG. 1) to communicate with sensor hardware 211A through use ofhardware drivers 212. Each of sensor drivers 205D can have knowledge ofthe communications interface for a specific sensor object. A singleinstance of each of sensor drivers 205D can be used by many sensorobjects 205C.

Continuing to refer to FIG. 25C, sensor data acquisition can includeupdating communications interfaces such as SPI, I2C, and analog todigital convert (ADC) in parallel with constantly acquired sensor data.Incoming information can be queued and can be interrupt-driven.Available sensor data can be processed regularly, for example, when thesystem tick time (systick) generates an interrupt request. Actuatorsdrivers 211 can be used by nodes 205B to communicate with at least onehardware type. Each of actuator drivers 211 can include knowledge of acommunications interface for a specific type of actuator according to,for example, but not limited to, its make and model. Types of actuatordrivers 211 can include, but are not limited to including, hardwaredriver 212, local and/or network motor drivers, another motioncontroller 59, and a modular valve apparatus. A single instance of eachof actuator drivers 211 can be used by many of nodes 205B. For example,single group 205A can manage four nodes 205B, each of nodes 205B beingassociated with single sensor object 205C each. Single sensor driver205D, can include, but is not limited to including, a driver for aquadrature encoder. Single actuator driver 205E, can include, but is notlimited including, a driver for a brushless DC motor, for example, butnot limited to, a MAXON® network motor driver. Hardware 211A can includea quadrature encoder and the motor/motor drive on the CANbus interface.The quadrature encoder can communicate with sensor driver 205D throughhardware drivers 205F and the serial peripheral interface (SPI)communications protocol, for example. The motor can communicate withactuator driver 205E through hardware drivers 205F and the CANbuscommunications protocol, for example.

Referring now to FIG. 25D, second configuration motion controller 205-1can include, but is not limited to including, groups 205A each managingfour node objects 205B, each of node objects 205B being associated witha single sensor object 205C. Nodes N8-N11 can operate independently fromany of groups 205A. Nodes 205B and sensors 205C can operably communicatewith command interface 201, which can communicate with hardware drivers205F through a CANbus interface. Hardware drivers 205F can operablycommunicate with hardware 211A through, for example, the CANbusinterface. Nodes 205B can also operably communicate with actuatordrivers 205E, which scan operably communicate with hardware drivers 205Fthrough the CANbus interface. Second configuration motion controller205-1 can include sensor drivers 205D, that can operably communicatewith sensors 205C through a network, which in turn facilitates operablecommunications between sensor drivers 205D and hardware drivers 205Fthrough the CANbus interface. Actuator drivers 205E can include, forexample, but not limited to, another motion controller driver and avalve block driver.

Referring now to FIG. 25E, node configuration table 240 can enable nodeobjects 205B to be configured, for example, through request 242A tocommand interface 201. Request 242A can include, but is not limited toincluding, node object ID 241A, parameter index 241B, and parametervalue 241C. Information about parameters associated with node object205B can include, but is not limited to including, address offset,permissions, parameter type, and value limits.

Referring now primarily to FIGS. 25F and 25G, node processor 60B (FIG.25A) can process requests 242A (FIG. 25E), 242B (FIG. 25F), and 242C(FIG. 25G) and can update a value for a requested parameter in nodeconfiguration table 241B, the parameter being described in nodeparameter table 240A. Exemplary node parameters can include, but are notlimited to including, control type, driver type, driver ID, actuatormode, sensors, gains, filter frequency, and group ID. Which nodeparameters appear in node parameter table 240A can depend upon the typeof device that is represented by node parameter table 240A.

Referring now primarily to FIGS. 25H and 25I, sensor processor 206 (FIG.25A) can process requests 242D (FIG. 25H) and 242E (FIG. 25I) and canupdate a value for a requested parameter in sensor configuration table243, the parameter being described in sensor parameter table 243A.Exemplary sensor parameters can include, but are not limited toincluding, sensor type, addresses, update period, and the repeated triadgain, filter, and filter frequency. Which sensor parameters appear insensor parameter table 243A can depend upon the type of sensor that isrepresented by sensor parameter table 243A. The same configurationscheme can be used to configure any objects, such as, for example,groups, errors, and processors.

Referring now to FIG. 25J, method 11150 for controlling at least oneactuator in any configuration can include, but is not limited toincluding, linking 11151 each of the at least one actuator to at leastone sensor, controlling 11153 each of the at least one actuator in aloop, grouping 11155 the at least one actuator to accomplishcoordinated/synchronized motion, and establishing 11157 communicationsamong the at least one actuator. Communications can optionally include,but are not limited to including, network communications enabled bystandard CAN and EtherCAT protocols. The at least one actuator canoptionally enable rotational and/or linear motion, and can include, butis not limited to including, binary valves, pneumatic compressors,modular valves, and heating elements. The at least one sensor canoptionally include, but is not limited to including, motor encoder,linear position, pressure sensor, gyroscope, accelerometer, andtemperature sensor.

Configurations of the present teachings are directed to computer systemsfor accomplishing the methods discussed in the description herein, andto computer readable media containing programs for accomplishing thesemethods. The raw data and results can be stored for future retrieval andprocessing, printed, displayed, transferred to another computer, and/ortransferred elsewhere. Communications links can be wired or wireless,for example, using cellular communication systems, militarycommunications systems, and satellite communications systems. Parts offorce actuation system 3100 (FIG. 1), for example, can operate on acomputer having a variable number of CPUs. Other alternative computerplatforms can be used.

The present configuration is also directed to software for accomplishingthe methods discussed herein, and computer readable media storingsoftware for accomplishing these methods. The various modules describedherein can be accomplished on the same CPU, or can be accomplished on adifferent computer. In compliance with the statute, the presentconfiguration has been described in language more or less specific as tostructural and methodical features. It is to be understood, however,that the present configuration is not limited to the specific featuresshown and described, since the means herein disclosed comprise preferredforms of putting the present configuration into effect.

Methods 3150 (FIGS. 24) and 11150 (FIG. 25J), can be, in whole or inpart, implemented electronically. Signals representing actions taken byelements of force actuation system 3100 (FIG. 1) and other disclosedconfigurations can travel over at least one live communications network.Control and data information can be electronically executed and storedon at least one computer-readable medium. The systems can be implementedto execute on at least one computer node in at least one livecommunications network. Common forms of at least one computer-readablemedium can include, for example, but not be limited to, a floppy disk, aflexible disk, a hard disk, magnetic tape, or any other magnetic medium,a compact disk read only memory or any other optical medium, punchedcards, paper tape, or any other physical medium with patterns of holes,a random access memory, a programmable read only memory, and erasableprogrammable read only memory (EPROM), a Flash EPROM, or any othermemory chip or cartridge, or any other medium from which a computer canread. Further, the at least one computer readable medium can containgraphs in any form, subject to appropriate licenses where necessary,including, but not limited to, Graphic Interchange Format (GIF), JointPhotographic Experts Group (JPEG), Portable Network Graphics (PNG),Scalable Vector Graphics (SVG), and Tagged Image File Format (TIFF).

While the present teachings have been described above in terms ofspecific configurations, it is to be understood that they are notlimited to these disclosed configurations. Many modifications and otherconfigurations will come to mind to those skilled in the art to whichthis pertains, and which are intended to be and are covered by both thisdisclosure and the appended claims. It is intended that the scope of thepresent teachings should be determined by proper interpretation andconstruction of the appended claims and their legal equivalents, asunderstood by those of skill in the art relying upon the disclosure inthis specification and the attached drawings.

1. A test system for testing at least one device, the system comprising:at least one force actuator; a processor accessing at least onedescription of the at least one device, the processor creating commandinformation based at least on the at least one description; and acontroller accessing the command information, the controller creating atleast one motion command based on the command information, thecontroller issuing the at least one motion command, the motion commandenabling the testing of the at least one device by controlling the atleast one force actuator based on the at least one motion command. 2.The test system as in claim 1 wherein the controller comprises: a groupprocessor managing at least one group, each of the at least one groupbeing either active or inactive, each of the active of the at least onegroup including at least one node object, the group processor accessingone of the at least one motion commands for each of the at least onenode objects; a node processor updating the at least one node objectbased on the command information; and at least one actuator driverrelaying the at least one motion command between the updated at leastone node object and the at least one device, the at least one actuatordriver communicating the at least one motion command to the at least onedevice through at least one hardware driver.
 3. The test system as inclaim 2 further comprising: a command interface providing the controlinformation to the at least one node processor and receiving sensorinformation from at least one sensor processor.
 4. The test system as inclaim 2 the controller further comprises: instructions includingsimultaneously controlling multiple of the at least one force actuators.5. The method as in claim 1 further comprising: at least one platform;at least one holder mount operably coupled with the platform; at leastone device holder operably coupled with the holder mount; at least onedevice cover operably coupled with the holder mount; and at least onedevice cage insertably coupled with the at least one device holder, thedevice cage housing the device, wherein the at least one force actuatorbeing substantially aligned with the device cage at pre-selected testpoints.
 6. The test system as in claim 1 wherein the controller furthercomprises: instructions including: setting a target firstcharacteristic, with respect to the at least one device, of the at leastone force actuator, the at least one force actuator having an actualfirst characteristic with respect to the at least one device; setting atarget second characteristic, with respect to the at least one device,of the at least one force actuator, the at least one force actuatorhaving an actual second characteristic with respect to the at least onedevice; adjusting the at least one force actuator, the adjustingenabling the actual first characteristic to approach the target firstcharacteristic, and the actual second characteristic to approach thetarget second characteristic; stopping the adjusting when the actualfirst characteristic substantially equals the target firstcharacteristic, or the actual second characteristic substantially equalsthe target second characteristic; adjusting the actual firstcharacteristic to maintain the target second characteristicsubstantially constant; and testing the device by monitoring the actualfirst characteristic over time.
 7. The test system as in claim 6 whereinthe actual first characteristic comprises an actual force and the targetfirst characteristic comprises a target force.
 8. The test system as inclaim 6 wherein the actual second characteristic comprises an actualposition and the target first characteristic comprises a targetposition.
 9. The test system as in claim 6 wherein the at least oneforce actuator comprises: an actuator arm coupling electronic andmechanical movement means to move and position a pin actuator, the pinactuator providing the target force on the at least one device.
 10. Thetest system as in claim 7 wherein the at least one force actuatorcomprises: a linear actuator moving the actuator arm towards the targetposition, the actuator arm forcing the at least one device based atleast on the at least one motion command provided by the at least onecontroller.
 11. The test system as in claim 10 wherein the at least oneforce actuator comprises: an actuator mount coupling the linear actuatorwith a controller housing enclosing the at least one controller.
 12. Thesystem as in claim 11 wherein the actuator mount comprises: fasteningcavities coupling the actuator mount with the at least one platform. 13.The test system as in claim 11 wherein the actuator mount comprises:actuator mounting cavities accommodating at least one alignment peg. 14.The test system as in claim 6 further comprising: a communications meanscoupling the at least one force actuator with the controller.
 15. Thetest system as in claim 1 wherein the at least one description comprisesa computer-aided design file.
 16. The test system as in claim 1 whereinthe at least one force actuator comprises a pressure actuator.